Chattering Reduction for Sliding Mode Control of Nonlinear Systems

• Main Authors: Tuz-Pin Lin, 林子斌
• Other Authors: Min-Shin Chen
• Format: Others
• Language: en_US
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/61533247813548747512

碩士 === 國立臺灣大學 === 機械工程學研究所 === 89 === This thesis considers the boundary layer design in the sliding mode control for a feedback linearizable nonlinear system. We compare different boundary layer designs including constant boundary layer width, decaying boundary layer width, and state-dependent boundary layer width. We present a unified stability analysis for the above three different designs. It is shown that our proposed state-dependent design is superior to the other two designs in alleviating the chattering problem in the face of time delay and unmodeled dynamics.